U.S. patent application number 14/674524 was filed with the patent office on 2015-10-01 for indoor and outdoor aerial vehicles for painting and related applications.
This patent application is currently assigned to Working Drones, Inc.. The applicant listed for this patent is Working Drones, Inc.. Invention is credited to Robert L. Dahlstrom.
Application Number | 20150274294 14/674524 |
Document ID | / |
Family ID | 54189272 |
Filed Date | 2015-10-01 |
United States Patent
Application |
20150274294 |
Kind Code |
A1 |
Dahlstrom; Robert L. |
October 1, 2015 |
Indoor and Outdoor Aerial Vehicles for Painting and Related
Applications
Abstract
An aerial operations system for performing various tasks such as
painting is provided. The modular aerial operations system includes
an aerial vehicle capable of vertically taking off and landing,
hovering and precisely maneuvering near walls and other structures.
The aerial vehicle may be a rotorcraft such as a multicopter. In an
aspect, as aerial vehicle paints one or more designated surfaces
using detachable arms and equipment. The system may paint the
designated surface in one of several available techniques using
paint provided in a container such as an attached reservoir, a base
station, a paint can, or the like. The aerial operations system
provided may also be configured to perform a variety of other
tasks.
Inventors: |
Dahlstrom; Robert L.;
(Jacksonville, FL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Working Drones, Inc. |
Jacksonville |
FL |
US |
|
|
Assignee: |
Working Drones, Inc.
Jacksonville
FL
|
Family ID: |
54189272 |
Appl. No.: |
14/674524 |
Filed: |
March 31, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61972535 |
Mar 31, 2014 |
|
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|
Current U.S.
Class: |
239/722 ;
244/17.11 |
Current CPC
Class: |
B05B 13/0278 20130101;
B64D 1/18 20130101; B64C 2201/027 20130101; B05B 13/005 20130101;
B64C 2201/12 20130101; E04G 23/002 20130101; B05B 9/0403 20130101;
A46B 2200/202 20130101 |
International
Class: |
B64D 1/18 20060101
B64D001/18; B64C 39/02 20060101 B64C039/02; B64C 27/08 20060101
B64C027/08; B05B 13/00 20060101 B05B013/00; B05B 13/02 20060101
B05B013/02 |
Claims
1. An aerial operations system, comprising: (a) an aerial vehicle
comprising a sprayer; and (b) a base station comprising a sprayable
material supply and a power supply; and (c) a tether
interconnecting the aerial vehicle and the base station, the tether
providing the aerial vehicle with power from the power supply and
sprayable material from the sprayable material supply.
2. The aerial operations system of claim 1, wherein the aerial
vehicle is a multi-rotor rotorcraft.
3. The aerial operations system of claim 1, wherein the sprayable
material is paint and the aerial operations system is configured to
apply paint to an object via the sprayer.
4. The aerial operations system of claim 1, wherein the sprayable
material supply is a reservoir.
5. The aerial operations system of claim 4, wherein the sprayable
material supply includes a sprayable material agitator.
6. The aerial operations system of claim 1, wherein the base
station further comprises a secondary fluid supply configured to
mix with the sprayable material.
7. The aerial operations system of claim 6, wherein the secondary
fluid is one of: a soap; a liquid adhesive; a binder; and a paint
thinner.
8. The aerial operations system of claim 1, the aerial vehicle
further comprising: (d) an on board backup power source.
9. The aerial operations system of claim 1, the aerial vehicle
further comprising: (d) an on board sprayable material
reservoir.
10. The aerial operations system of claim 9, wherein the on board
sprayable material reservoir is detachable from the aerial
vehicle.
11. The aerial operations system of claim 1, wherein the tether
comprises a wired connection between the command and control system
and the aerial vehicle and wherein the command and control system
directs the aerial vehicle via the wired connection.
12. The aerial operations system of claim 1, wherein the base
station comprises a command and control system, the command and
control system directing the aerial vehicle.
13. The aerial operations system of claim 12, wherein the command
and control system comprises a wireless communications transceiver
configured to communicate with the aerial vehicle and a user input
device.
14. The aerial operations system of claim 12, the aerial vehicle
further comprising: a position sensor; wherein the command and
control system is configured to receive inputs from the position
sensor and direct a flight path of the aerial vehicle, the flight
path chosen to spray sprayable material on an object via the
sprayer.
15. The aerial operations system of claim 14, wherein the flight
path is a raster flight pattern, and a sprayer end portion of the
sprayer is between three and six inches from an object surface of
the object.
16. The aerial operations system of claim 14, the aerial vehicle
further comprising a paint application sensor configured to detect
a material application quantity applied to the object.
17. The aerial operations system of claim 16, further comprising an
environmental sensor communicatively connected to the command and
control system.
18. The aerial operations system of claim 1, wherein the sprayer is
connected for controllable movement to the aerial vehicle.
19. The aerial operations system of claim 1, wherein the base
station comprises a landing pad.
20. The aerial operations system of claim 1, comprising an
attachment point positioned between the sprayer and an aerial
vehicle body, configured for detaching the sprayer and attaching
another add-on.
21. The aerial operations system of claim 20, wherein the
attachment point comprises fluid and electrical connections.
22. The aerial operations system of claim 20, comprising a second
attachment point positioned on the aerial vehicle body and
configured for attaching an add-on.
23. The aerial operations system of claim 1, further comprising a
user input device configured to receive aerial vehicle
commands.
24. The aerial operations system of claim 23, wherein the user
input device wirelessly connects to the base station.
25. The aerial operations system of claim 23, wherein the user
input device is integrated into the base station.
26. An aerial operations system, comprising: (a) an aerial vehicle
comprising an accessory attachment point; (b) an add-on releasably
connected to the aerial vehicle at the accessory attachment point
configured to physically interact with an object; (c) a base
station comprising: a command and control system controlling the
aerial vehicle and the add-on; and a power supply; and (d) a tether
interconnecting the aerial vehicle and the base station, the tether
providing the aerial vehicle with power from the power supply.
27. The aerial operations system of claim 26, wherein the add-on is
one of: a window washing device; a paint sprayer; an overspray
guard; and an airbrush.
28. The aerial operations system of claim 27, the base station
further comprising a water source, the tether configured to provide
the water to the aerial vehicle.
29. The aerial operations system of claim 26, wherein the add-on is
on of: a brush; a movable scoop; an aerator; a drill; and a claw.
Description
CROSS REFERENCE TO RELATED APPLICATION
[0001] This application claims the benefit of U.S. Provisional
Patent Application No. 61/972,535, filed Mar. 31, 2014, and
entitled "Indoor and Outdoor Aerial Vehicles for Painting and
Related Applications," the entire contents of which are hereby
incorporated herein by reference.
FIELD OF THE DISCLOSURE
[0002] The present disclosure generally relates to unmanned aerial
vehicles and more particularly to apparatus, systems and methods
for carrying out tasks using unmanned aerial vehicles.
BACKGROUND
[0003] The statements in this section merely provide background
information related to the present disclosure and may not
constitute prior art.
[0004] Coating or painting interiors and exteriors of structures is
often a precise, tedious and time consuming task. It can often be a
dangerous task as well. In order to paint even the simplest of
interior walls, the area must first be prepared. Painter's tape,
drop cloths, and other barriers are temporarily put in place in
order to protect areas from the unwanted application of paint. In
order to ensure strong adhesion of the new paint, the wall itself
may also be cleaned.
[0005] Next, the borders of the wall must be cut in. That is, the
edges of the wall must be painted with particular care in order to
avoid painting the ceiling, the floor, door frames and the like.
Cutting in is typically done by hand with a small brush. The
painter may carry around a paint can or a small container of paint
and slowly paint the top edge, side edges, intermediate edges, and
bottom edge of the wall. Cutting in often requires the painter to
spend significant amounts of time bent over, standing on ladders,
and moving painting equipment along the wall. It is not uncommon
for cutting in to occupy at least half of the time spent painting a
single surface. Cutting in also occurs around certain permanent
items such as electrical outlets or switches, ceiling fans,
etc.
[0006] After cutting in, the bulk of the wall may be painted. Such
large area painting may be performed utilizing the small brushes
used to cut in. At the cost of additional equipment and set up
time, paint rollers, spray apparatus and other devices may be used
to speed this portion of the process. Paint rollers, for example,
are typically nine inches wide and may be attached to a broom
handle or the like, enabling the painter to apply a coat of paint
to a large area of a wall with minimal effort.
[0007] When using any type of paint applicator, the painter must
take care to ensure that a uniform amount of paint is applied per
square inch of the wall. Among other considerations, this ensures
that the finished wall has a uniform appearance. That is, no colors
from underneath bleed through. Furthermore, despite likely using
multiple types of applicators, the painter must ensure that the
texture of the applied paint is uniform. For example, where a
smooth finish is desired, the painter must hide the brush strokes
in the applied paint.
[0008] Once a first coat of paint is applied to a surface being
painted, additional coats may be needed. Where this is the case,
the painter must wait for the previous coat of paint to dry, reset
the equipment for applying the next coat, and begin the process
again. Wait time between applications of coats is problematic. The
painter often wished to complete the job as quickly as possible but
may be unfamiliar with the minimum amount of time necessary to wait
between coats. The wait time is heavily influenced by environmental
factors such as ambient temperature and humidity. Furthermore, many
painters will not apply a coat of paint to an exterior surface of a
structure if the weather forecast calls for rain within twelve
hours.
[0009] In some regimes, robotic devices are suited to perform
basic, tedious and/or time-consuming tasks. For example,
Roomba.RTM. cleaning devices (available from iRobot Corporation of
Bedford, Mass.) semi-autonomously vacuum interior floors,
eliminating or reducing the need for an individual to clean the
floor frequently.
[0010] Autonomous and semi-autonomous flying vehicles have been
developed which are capable of flying precise flight patterns,
identifying and avoiding obstacles in a flight path and taking off
or landing at a desired location.
[0011] Given the foregoing, apparatus, systems and methods are
needed which facilitate painting surfaces via a robotic vehicle.
Additionally, apparatus, systems and methods are needed which
facilitate reducing or eliminating the human labor component of
painting a surface such an interior wall, exterior of a house, or
the like.
SUMMARY
[0012] This Summary is provided to introduce a selection of
concepts. These concepts are further described below in the
Detailed Description section. This Summary is not intended to
identify key features or essential features of this disclosure's
subject matter, nor is this Summary intended as an aid in
determining the scope of the disclosed subject matter.
[0013] Aspects of the present disclosure meet the above-identified
needs by providing apparatus, systems, and methods which facilitate
painting surfaces via an aerial vehicle, such as a robotic vehicle.
In some aspects, such vehicles reduce or eliminate the human labor
component of painting a surface such an interior wall, exterior of
a house, or the like, while increasing the precision of paint
application.
[0014] In an aspect, an aerial operations system for painting is
provided which paints one or more designated surfaces. Paint may be
supplied from a ground station via a tether. Painting may be done
using detachable arms and/or equipment. The system may paint the
designated surface in one of several available techniques (e.g.,
smooth finish, stipple finish, sponge painting, rag wipe finish,
and the like) using paint provided in a container such as an
attached reservoir, a base station, a paint can, or the like. The
modular aerial operations system includes an aerial vehicle capable
of vertically taking off and landing, hovering and precisely
maneuvering near walls and other structures. The aerial vehicle may
be a rotorcraft such as a multicopter (e.g., a quadcopter), or
other appropriate vehicles. In order to paint a designated surface,
the aerial vehicle includes a paint dispensing system such as a
sprayer. The sprayer is connected to a paint source, such as an
onboard paint reservoir or a ground based reservoir and tether
system, and is controlled by an onboard computing device. The
aerial vehicle also includes a sensor suite which detects obstacles
as well as surfaces designated to be painted. A command and control
module within the onboard computing device receives inputs from the
sensor suite and causes the aerial vehicle to maneuver a desirable
distance from surfaces to be painted. When the aerial vehicle is in
a desired location, the sprayer or other painting device is
activated, applying paint to the desired surface (e.g., an interior
wall, an exterior wall, shutters, furniture, or portions
thereof).
[0015] The aerial operations system further includes a base
station. The base station may provide a home location for the
aerial vehicle, data transfer connections, power connections,
and/or an additional paint reservoir. In some aspects, the base
station is omitted.
[0016] In an aspect, the aerial operations system is modular,
enabling utilization of a variety of extensions, arms, and add-ons.
For example, the aerial operations system may comprise removable
paint application portions enabling sample collection arms, brush
arms, squeegee arms, duster arms, and the like to be attached and
utilized.
[0017] In some aspects, the aerial vehicle is programmable and
operates autonomously or semi-autonomously. In another aspect, the
aerial vehicle is remotely piloted by a user. That is, the user may
use a remote control to pilot the aerial vehicle and paint a
designated surface.
[0018] In some aspects, attachments are included such as movable
physical barriers, which are used to protect or mask areas from
being painted.
[0019] Aspects of the present disclosure reduce the need to place
protective barriers such as drop cloths, painter's tape,
scaffolding, and the like around the area to be painted because the
aerial vehicle precisely applies paint when equipped with painting
tools. Furthermore, apparatus in accordance with the present
disclosure reduce or eliminate the human labor component of tasks
such as interior and exterior painting, window cleaning, yard work,
and the like.
[0020] Further features and advantages of the present disclosure,
as well as the structure and operation of various aspects of the
present disclosure, are described in detail below with reference to
the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The features and advantages of the present disclosure will
become more apparent from the Detailed Description set forth below
when taken in conjunction with the drawings in which like reference
numbers indicate identical or functionally similar elements.
[0022] FIG. 1 is a perspective view of an aerial operations system
equipped with a paint sprayer painting the wall of a structure,
according to various aspects of the present disclosure.
[0023] FIG. 2 is a perspective view of an aerial operations system
including a paint sprayer, according to various aspects of the
present disclosure.
[0024] FIG. 3 is a perspective view of an aerial vehicle having
multiple add-on attachment points, according to various aspects of
the present disclosure.
[0025] FIG. 4 is a perspective view of a base station configured to
provide power, material and data connections to an aerial vehicle,
according to various aspects of the present disclosure.
[0026] FIG. 5 is a side view of a base station having a landing
platform mounted on top of a container, according to various
aspects of the present disclosure.
[0027] FIG. 6 is a side view of a reservoir connectable to an
underside portion of the base station and provide paint or another
fluid for use by the aerial vehicle, according to various aspects
of the present disclosure.
[0028] FIG. 7 is an image of a variety of modular add-ons usable
with an aerial vehicle, according to various aspects of the present
disclosure.
[0029] FIG. 8 is another image of a variety of modular add-ons
usable with an aerial vehicle, according to various aspects of the
present disclosure.
[0030] FIG. 9 is a perspective view of an aerial operations system
configured to clean windows, according to various aspects of the
present disclosure.
[0031] FIG. 10 is a dataflow diagram depicting wireless operation
of the aerial operations system, according to various aspects of
the present disclosure.
[0032] FIG. 11 is a block diagram of an example computing system
useful for implementing various aspects of the present
disclosure.
DETAILED DESCRIPTION
[0033] The present disclosure is directed apparatus, systems, and
methods which facilitate painting surfaces via an aerial vehicle,
such as a robotic vehicle. In some aspects, precision of paint
application to surfaces such as an interior wall, an exterior of a
house, building or other structure such as a bridge or tower, and
portions thereof is increased. Further, in some aspects of the
present disclosure there is reduced need to place protective
barriers such as drop cloths, painter's tape, and the like around
the area to be painted because the aerial vehicle precisely applies
paint when equipped with painting tools. Furthermore, apparatus in
accordance with the present disclosure reduce or eliminate the
human labor component of tasks such as interior and exterior
painting, window cleaning, yard work, and the like.
[0034] In an aspect, an aerial operations system for painting and
other operations is provided. The aerial operations system includes
a base station, an aerial vehicle, and one or more attachments for
facilitating tasks such as painting, cleaning, sample collection
and the like. In some aspects, the base station is omitted. One or
more attachments may be integrated into the aerial vehicle. In some
aspects, the aerial vehicle is configured to perform a single
purpose, such as painting interior locations.
[0035] Aerial operations systems may be configured to facilitate
painting or otherwise spraying sprayable material on a variety of
objects such as walls, building exteriors, furniture, vehicles,
signs, portions thereof and other items apparent to those skilled
in the relevant art(s) after reading the description herein. The
aerial operations system may paint the designated surface in one of
several available techniques (e.g., smooth finish, stipple finish,
sponge painting, rag wipe finish, and the like) using paint
provided. In other aspects, aerial operations system may be
configured to apply coatings, spray high pressure liquid or air in
order to remove portions of an object, or the like.
[0036] Referring now to FIGS. 1 & 2, a perspective view of an
aerial operations system 101 equipped with a paint sprayer 104 and
a detail view of an aerial vehicle 100 portion of aerial operations
system 101, according to various aspects of the present disclosure,
are shown.
[0037] The aerial operations system 101 may include an aerial
vehicle 100 tethered to a base station 124. In some aspects, the
tether 122 and/or base station 124 are omitted and portions
necessary to the functionality of aerial operations system 101 are
integrated into aerial vehicle 100.
[0038] Aerial vehicle 100 may be capable of vertically taking off
and landing, hovering and precisely maneuvering near walls or other
objects 126. Aerial vehicle 100 may be a rotorcraft such as a
multicopter (e.g., a quadcopter). Aerial vehicle is operated by
command and control systems which may include aerial vehicle based
components 102 and/or ground based command and control components
(contained within ground power source 130 in FIG. 1). Aerial
vehicle 100 also includes multiple rotor arms 116, one or more
accessories or add-ons such as paint sprayer 104, a tether
connection portion 108, at least one sensor 112, and landing system
114. Landing system 114 may be legs, skids, skis, or the like. In
some aspects, aerial vehicle 100 includes additional elements, as
shown in FIG. 2. In other aspects, portions may be omitted from
aerial vehicle 100. Each rotor arm 116 includes a rotor 118 at an
end portion of a boom 120. In some aspects, aerial vehicle 100
incorporates the propellers into the body of the vehicle and there
is no arm or boom. In such aspects there may or may not be prop
guards enclosing the propellers.
[0039] Tether connection portion 108 connects tether 122 to aerial
vehicle 100. Tether connection 108 may be a permanent or removable
connection and be configured to provide data, power, and fluid
connections to or from aerial vehicle 101. Tether may include a
liquid transportation channel 136 and an electrical and or data
connection 138. Electrical connection 138 supplies power to aerial
vehicle 100, including on board back up batteries, from ground
power such as shore power (e.g., a wall socket) or ground power
station 130.
[0040] Onboard command and control system 102 receives inputs from
sensors and/or base station including sensors such as
omnidirectional sensor 112 in order to determine positioning of
aerial vehicle 100 relative to its surroundings. Command and
control system 102 controls a plurality of rotors 118 (labeled as
rotors 118a-d in FIG. 1) in order to pilot aerial vehicle 100,
controlling altitude and attitude, including pitch, yaw and angular
orientation. Onboard command and control system 102 may receive
instructions from a user to fly to a designated area and perform a
task (e.g., paint a wall, cut in portions of the wall, paint an
image on a wall, and the like). Such instructions may be received
via direct data connection, wireless data connection, or input via
an integrated input device. Aerial vehicle 100 may operate
autonomously after receiving instructions. In another aspect, a
user pilots aerial vehicle 100 to the designated area and causes
aerial vehicle 100 to perform the desired task be sending a series
of commands (i.e., remote control operation). One such command may
be to paint a desired portion of a wall by flying in a raster
pattern and spraying paint on the wall during the flying of the
pattern. Another command may be to "blot out" an electrical
receptacle whereby the aerial vehicle 100 would paint the
electrical wall receptacle with the same paint of the same color as
the surrounding wall and would not cut in around the receptacle
leaving it unpainted.
[0041] During autonomous or semi-autonomous operation, command and
control system utilizes the sensors to position aerial vehicle 100
in advantageous positions and orientations in order to carry out
the desired task. For example, where aerial vehicle 100 is painting
a structure, command and control system pilots aerial vehicle 100
to an ideal distance away from the structure in order to paint the
structure via accessory 104 adapted for painting, such as a
sprayer, a brush, or other instrument apparent to those skilled in
the relevant art(s) after reading the description herein. For
example, accessory 104 may comprise a spray nozzle 106 for applying
paint 128 or another sprayable material. Spray nozzle 106 may be
configured to optimally apply paint when positioned normal to the
surface being painted and offset three to six inches or a
predetermined or automatically calculated distance (by calculating
the wind speed, spray material viscosity, desired thickness of the
applied material, etc.). In this instance command and control
system 102 will detect the surface using sensors and pilot aerial
vehicle to an attitude and position where spray nozzle 106 is an
appropriate distance (e.g., three to six inches) from the surface
being painted and normal to the surface.
[0042] Command and control system additionally controls the action
of accessories 104. For example, a paint applicator is activated by
command and control system when aerial vehicle 100 reaches the
desired location relative to the surface to be painted. Command and
control system 102 may be preprogrammed with a flight path to paint
such an object or it may contain algorithms which determine,
on-the-fly, the appropriate actions to take in order to paint the
specified surface(s). Further, video cameras and/or other sensors
attached to the aerial vehicle 100 or an arm or one or more
attachments can monitor the paint application and adjust the paint
flow or paint pressure or require the aerial vehicle 100 to
complete an additional "pass" over the area with another spray for
optimal paint application and coverage. That is, sensors such as
cameras may be used to detect "skips" or "holidays" (instances
where the paint application is not optimal and some of the old
paint color may show through). Based on this detection, command and
control system may cause aerial vehicle 100 to repaint such
deficient areas.
[0043] Aerial vehicle 100 may measure local environment properties
such as the ambient temperature, humidity and the like in order to
determine the optimal parameters for applying any subsequent
coat(s) of paint. Furthermore, where aerial vehicle 100 is painting
outside or performing other tasks in an outdoor environment, aerial
vehicle 100 may be programmed to access weather forecast data from
third party sources and determine the appropriate timeframe to
complete such tasks. The aerial vehicle 100 may also access the
manufacturer of the paint or material being applied or sprayed or a
general knowledge repository such as the internet for information
about the material being applied such as optimal viscosity, level
or volume of material required for various surfaces (such as the
microns of thickness the paint should be applied), known failures
or best management practices of application of the material
etc.
[0044] Accessory 104 may be an appendage or other member attached
or removably attachable to aerial vehicle 100 at accessory
attachment point 132. Accessory attachment point 132 may be a quick
release mechanism. Accessory 104 may be changed in order to adapt
aerial vehicle 100 to specific uses. Accessory may comprise an
accessory attachment point 106, such as a spray nozzle as described
above. In some aspects, aerial vehicle 100 comprises multiple
accessories 104. Some accessories 104 are equipped with sensors
such as pressure sensors in order to aid in precisely identifying
the location of walls and the like. Accessory 104 may include
additional sensors.
[0045] Accessories 104 may be rigidly mounted to aerial vehicle 100
or they may be mounted for movement on a mount 134. Mount 134 may
comprise one or more motors or actuators controllable by command
and control system in order to adjust the orientation of, extend,
retract, rotate, or otherwise manipulate and position, for example,
attached spray nozzle 106. Such movement is advantageous for
cleaning, painting, orienting accessory 104 to reach or point in
directions that are otherwise inaccessible and the like.
Specifically, a painting accessory attached for movement to aerial
vehicle 104 may be pitched upward by causing motor to point
accessory 104 upward, altering the attitude of aerial vehicle 100
by pitching a portion of the vehicle upward, or both, in order to
cut in near the top of an interior wall. Such action may be
necessary in order to avoid running into the ceiling or other
obstacle.
[0046] Sensors includes one or more sensors which aid the operation
of aerial vehicle 100. Sensors may include cameras, infrared
sensors, GPS transceivers, magnetometers, laser range finders,
sonar, lidar, radar, and other types of sensors or positioning
devices apparent to those skilled in the relevant art(s) after
reading the description herein. Inertial sensors, displacement
sensors, gyroscopes, and other devices may also be integrated.
Omnidirectional sensor 112, sensors located on other portions of
aerial vehicle 100 and command and control system may operate in
concert to form a guidance navigation and control system for aerial
vehicle 100. Accessories may also be attached to the end of the
rotor arms/booms, the top of aerial vehicle 100 or other location
and may contain elbows. Bends, or flexible (rigid or semi rigid)
portions.
[0047] Aerial vehicle 100 may further include one or more visual or
audio alert devices such as speakers, LEDs, and the like. Such
alert devices may be utilized to warn bystanders to avoid aerial
vehicle 100, indicate status of aerial vehicle 100 (e.g., battery
status, onboard supply status, task completion status).
[0048] In some aspects, aerial vehicle 100 is battery powered and
power supply 130 is a rechargeable battery. In other aspects,
aerial vehicle is powered by liquid or gaseous fuels and power
supply 130 is a storage tank for such fuel. Power supply 130 may
also include an electrical converter, uninterrupted power supply
(UPS), or the like. Power supply 130 may be an electrical
connection to grid power or another source of power.
[0049] Input device 142, such as a computing device is
communicatively connected to system 101 in order to receive input
from a user, thereby operating, monitoring and/or commanding system
101. Input device 101 may be a personal computing device, a
terminal built into base station, a remotely located device, or any
other device for receiving user inputs apparent to those skilled in
the relevant art(s) after reading the description herein.
[0050] In some aspects, aerial vehicle 100 comprises an onboard
reservoir. The on board reservoir may hold a sprayable material
such as a liquid, gas, foam or other material to be dispersed. In
some aspects, such as aerial vehicle 100 equipped with a vacuum
accessory, and on board reservoir is configured to hold collected
material. The on board reservoir may be filled or emptied by a user
or by portions of base station 124. The on board reservoir may be
modular and detachable via container connectors, thereby enabling
aerial vehicle 100 to rapidly connect and disconnect from multiple
on board reservoirs. In some aspects, the connection is performed
autonomously. In some aspects, on board reservoir is a one-gallon,
one-quart, or other standard size paint can.
[0051] Aerial vehicle 100 may be attached to the ground or ground
station 124 via a tether 122. In some aspects, tether 122 is
electrically connected to aerial vehicle 100 and connected to the
local power grid via, for example, a domestic outlet, in order to
provide power to aerial vehicle 100. Tether 122 may be connected to
an on board reservoir or another portion of aerial vehicle 100 in
order to provide, receive or discharge sprayable material. For
example, aerial operations system 101 may comprise a base station
124 having a large paint reservoir 140 or other ground-based
sprayable material reservoir or source (e.g., a water connection).
Paint from ground paint reservoir 140 may be transported to aerial
vehicle 100 via tether connection. Tether 122 is a length
appropriate for performing the desired task or may be longer than
needed and may or may not contain a reel or other tether management
device. Tether 122 may also be used to exchange data and
information between base station 124 or some other connected device
and aerial vehicle 100. Tether 122 and/or portions of vehicle 100
is designed to be used in underwater and other environments such as
inside storage tanks, pipes or ducts, crawl spaces, or the
like.
[0052] Referring now to FIG. 3, a perspective view of an aerial
vehicle 100 having multiple add-on attachment points 132, according
to various aspects of the present disclosure, is shown. Aerial
vehicle may be modular in that add-ons 104 may be attached and
detached at attachment points 132. Attachment points 132 may be
located anywhere on aerial vehicle 100. An add-on 104 may include
an extension 302 connectable to one of many end effectors 304.
Attachment points 132 maybe located at a variety of locations on
aerial vehicle 100. Multiple add-ons 104 may be mounted on aerial
vehicle simultaneously, including one or more off-set add-ons
104b.
[0053] Referring now to FIGS. 4 & 5, views of a base station
124 configured to provide power and data connections and sprayable
material to aerial vehicle 100, according to aspects of the present
disclosure, is shown.
[0054] Base station 124 provides power, data, and fluid reservoirs
for aerial vehicle 100 in order to facilitate operations. In some
aspects, portions of base station 124 may be mountable on top of
large paint buckets such as a five-gallon bucket. Base station 124
may be mobile/movable. In some aspects, base station 124 maybe one
unit and include wheels.
[0055] Base station 124 includes a landing pad 402. Landing pad 402
may have machine readable markings in assist aerial vehicle 100
during landing. Base station 124 may employ sensors, GPS, or
emitters to assist aerial vehicle 100 in determining and monitoring
aerial vehicle 100 location. Landing pad 402 may also include power
and data connections 404 (labeled, for clarity, only as connections
404a-b in FIG. 3) which aerial vehicle 100 connects with upon
landing. A power supply 130 is electrically connected to power
connections 404 or optionally is a rechargeable power system or a
power generator. One or more reservoirs containing selected fluids
or other materials may be integrated or otherwise connected to base
station 124 in order to provide such material to aerial vehicle
100. Base station 124 further includes a platform 406 configured to
attach base station 124 to other physical devices or objects. In an
aspect, platform 406 is configured to attach to container 502 shown
in FIG. 5 in order to facilitate painting.
[0056] In some aspects, landing pad 402 may be a concave shape,
allowing aerial vehicle 100 to successfully land even if it off
center by sliding toward the center of landing pad 402 after making
contact with the concave surface.
[0057] Referring now to FIG. 6, a side view of a container 502
connectable to an underside portion of base station 124 and provide
paint or another fluid for use by aerial vehicle 100, according to
an aspect of the present disclosure, is shown.
[0058] In aspect, base station 124 further comprises an agitator
602, a siphon 604, and a sensor 606 and a material supply line 608,
for maintaining the appropriate mixture of a large volume of paint
during the performance of a painting or other sprayable material
during aerial vehicle operations (e.g., painting an interior room,
painting the exterior of a house or structure, spraying cleaning
agents, chemicals, etc.). Agitator 602 maintains the mixture of
paint and may be activated at preset intervals or in response to
sensor data. Siphon 604 removes paint from container 502 and
supplies it to aerial vehicle 100 when needed. Sensor 606 detects,
for example, the level of paint within container 502 in order to
alert a user when the paint level is low or that a job will require
more paint than available and may be attached to siphon 604 or may
be independent. Material supply line 608 or Siphon 604 may also be
used to transfer liquid into container 502 such as paint thinner or
water to ensure the material in container 502 is of the correct
viscosity and consistency. As will be apparent to those skilled in
the relevant art(s) after reading the description herein, onboard
reservoir and/or reservoir 140 may each also include agitator 602,
siphon 604 and/or sensor 606, thereby connecting such containers to
aerial operations system 101 and facilitating supply, mixture and
monitoring of sprayable material.
[0059] In an aspect, base station 124 is located near container 502
or some other source of paint of other material intended to be used
by aerial vehicle 100 when performing tasks. Base station 124 may
be connected via tubes or similar connections to container 502 or
other containers or reservoirs.
[0060] In an aspect, aerial vehicle 100 is configured as a crop
duster. Aerial vehicle 100 may fly between rows of crops (e.g.,
corn) and spray fertilizer, pesticide, or other desired materials
on the crops.
[0061] Referring now to FIG. 7, an image of a variety of modular
add-ons usable with aerial vehicle 100, according to aspects of the
present disclosure, are shown.
[0062] Add-ons shown in FIGS. 7 and 8 may be attached to aerial
vehicle 100 via quick connections 702 attached to attachment points
132. Add-ons may take the place of one or more accessories or may
augment accessories. Add-ons include, but are not limited to those
depicted in FIGS. 7 and 8. Each add-on may be connected at
accessory attachment point 132.
[0063] Add-ons may be selected with allow for multiple painting
techniques or effects. For example, an add-on may position a
stencil while a paint sprayer accessory applies the paint. Other
effects such as creating a "stipple" paint effect by spraying the
paint with one arm and then having the other arm, containing a
stipple brush, can make contact with the wall with rapid connecting
motions. Additional effects such as "rag wipe", sponge, running a
stiff bristle "broom" through the paint to create lines, etc. can
also be achieved.
[0064] Add-ons may include an arm to distribute solid materials
(granules of fertilizer, shredded bark or mulch, etc.). The
attachment end may "spin" similar to a broadcast spreader or it
could vibrate and sprinkle material. The "broadcast spread"
component/attachment also spreads chemicals, salt, ash, and other
material for ice and snow removal/control. An add-on may comprise
an arm or end to pull, move, remove, and/or relocate unwanted
materials (trash/litter, weeds, etc.).
[0065] Brush add-on 704 may be attached to aerial vehicle 100 to
facilitate cleaning a vertical or horizontal surface. Squeegee
add-on 706 may be used to clean windows and may further comprise a
motorized rotating portion. Sprayer add-on 708 and be used to spray
air or water in order to for example clean objects or vacuum items.
Sensor add-on 710 may be utilized to sample air quality,
particulate matter concentrations, radiation and the like. Sensor
add-on 710 may further comprise an arm extension and one or more
filters. Overspray guard add-on 712 may comprise a physical barrier
useful for preventing paint from dripping or spraying onto
undesirable locations.
[0066] Referring now to FIG. 8, another image of a variety of
modular add-ons usable with aerial vehicle 100, according to
aspects of the present disclosure, is shown.
[0067] An add-on may be a material collector arm scoop 802. Scoop
802 may be an electric or mechanical "scoop" like wand/arm
extension. Material collector arm drill add-on 804 is an electric
or mechanical "drill" like wand/arm extension. Add on may be a
material collector arm scoop add-on is an electric or mechanical
"scoop" like wand/arm extension "back scoop" that can pivot and
pull material into it. Material collector arm claw 810 is an
electric or mechanical "claw" like wand/arm extension that can
pivot and grab material to it.
[0068] Twisting/screwing material cutter and collector 808 is an
example appendage that can be added to the end/tip of the Wand/Arm
or it can be part of an entire modular and replaceable Wand/Arm
that can burrow or cut or drill into materials to extract samples
or cut and shape external material. Cutter 806 and cutter 812 are
similar devices. Puncturing material cutter and collector add-on
814 is an example appendage that can be added to the end/tip of the
Wand/Arm or it can be part of an entire modular and replaceable
Wand/Arm that can burrow or cut or drill into materials to extract
samples or cut and shape external material. Aerator or probe
add-ons 816, 818 may be used to burrow or cut or drill into
materials to extract samples or cut and shape external material.
Furthermore add-ons 816 and 818 may be used to push against or into
material to insert liquids, solids (pellets) or gasses that can
push/puncture, drill or penetrate into materials or to extract
liquids, solids, or gasses. Cutters and collectors 802, 804, 806,
808, 812, 814, 816 and 818 may also collect material by
vacuuming/sucking materials in, including liquids, solids, and semi
solids.
[0069] Referring briefly now to FIG. 9, a perspective view of an
aerial operations system 101 configured to clean windows 902,
according to various aspects of the present disclosure, is shown.
Aerial vehicle is equipped with sprayer 708 and sprays water, a
mixture of water and soap, or another sprayable material in order
to clean windows 902. The sprayable material may be sprayed at a
high pressure. In other aspects, similar configurations are used to
apply material coatings to windows 902 or other structures.
[0070] Referring now to FIG. 10, a dataflow diagram depicting
wireless and/or wired (via the tether) operation of the aerial
operations system 101, according to an aspect of the present
disclosure, is shown.
[0071] Aerial operations system 101 comprises base station 124 and
aerial vehicle 100. User may input commands at a command module
1002 or using a device such as a cellular transceiver, cellular
telephone, tablet, or portions thereof which can communicate with
base station 124, aerial vehicle 100, or both devices. Commands may
be wirelessly transmitted to aerial vehicle 100 and carried out via
on board command and control system 102. In some aspects, commands
are general (e.g., proceed to position X, scan the wall, process
the scan, determine areas to be painted and paint the wall) and
command and control system 102 determines the appropriate actions
to carry out the command. In other aspects, command module 1002
receives a general command and sends sub-commands to aerial vehicle
100 in order to execute the general command. Aerial vehicle 100 may
transmit data and information back to base station 124. Such data
may be analyzed by command module 1002.
[0072] Referring now to FIG. 11, a block diagram of an exemplary
computer system useful for implementing various aspects the
processes disclosed herein, in accordance with one or more aspects
of the present disclosure, is shown.
[0073] That is, FIG. 11 sets forth illustrative computing
functionality 1100 that may be used to implement on board command
and control system 102, command module 1002, or any other portion
of aerial operations system 101. In all cases, computing
functionality 800 represents one or more physical and tangible
processing mechanisms.
[0074] Computing functionality 1100 may comprise volatile and
non-volatile memory, such as RAM 1102 and ROM 1104, as well as one
or more processing devices 1106 (e.g., one or more central
processing units (CPUs), one or more graphical processing units
(GPUs), and the like). Computing functionality 1100 also optionally
comprises various media devices 1108, such as a hard disk module,
an optical disk module, and so forth. Computing functionality 1100
may perform various operations identified above when the processing
device(s) 1106 executes instructions that are maintained by memory
(e.g., RAM 1102, ROM 1104, and the like).
[0075] More generally, instructions and other information may be
stored on any computer readable medium 1110, including, but not
limited to, static memory storage devices, magnetic storage
devices, and optical storage devices. The term "computer readable
medium" also encompasses plural storage devices. In all cases,
computer readable medium 1110 represents some form of physical and
tangible entity. By way of example, and not limitation, computer
readable medium 1110 may comprise "computer storage media" and
"communications media."
[0076] "Computer storage media" comprises volatile and
non-volatile, removable and non-removable media implemented in any
method or technology for storage of information, such as computer
readable instructions, data structures, program modules or other
data. Computer storage media may be, for example, and not
limitation, RAM 1102, ROM 1104, EEPROM, Flash memory or other
memory technology, CD-ROM, digital versatile disks (DVD) or other
optical storage, magnetic cassettes, magnetic tape, magnetic disk
storage or other magnetic storage devices, or any other medium
which can be used to store the desired information and which can be
accessed by a computer.
[0077] "Communication media" typically comprise computer readable
instructions, data structures, program modules, or other data in a
modulated data signal, such as carrier wave or other transport
mechanism. Communication media may also comprise any information
delivery media. The term "modulated data signal" means a signal
that has one or more of its characteristics set or changed in such
a manner as to encode information in the signal. By way of example,
and not limitation, communication media comprises wired media such
as a wired network or direct-wired connection, and wireless media
such as acoustic, RF, infrared, and other wireless media.
Combinations of any of the above are also included within the scope
of computer readable medium.
[0078] Computing functionality 1100 may also comprise an
input/output module 1112 for receiving various inputs (via input
modules 1114), and for providing various outputs (via one or more
output modules). One particular output mechanism may be a
presentation module 1116 and an associated GUI 1118. Computing
functionality 1100 may also include one or more network interfaces
1120 for exchanging data with other devices via one or more
communication conduits 1122. In some aspects, one or more
communication buses 1124 communicatively couple the above-described
components together.
[0079] Communication conduit(s) 1122 may be implemented in any
manner (e.g., by a local area network, a wide area network (e.g.,
the Internet 112), and the like, or any combination thereof).
Communication conduit(s) 1122 may include any combination of
hardwired links, wireless links, routers, gateway functionality,
name servers, and the like, governed by any protocol or combination
of protocols.
[0080] Alternatively, or in addition, any of the functions
described herein may be performed, at least in part, by one or more
hardware logic components. For example, without limitation,
illustrative types of hardware logic components that may be used
include Field-programmable Gate Arrays (FPGAs),
Application-specific Integrated Circuits (ASICs),
Application-specific Standard Products (ASSPs), System-on-a-chip
systems (SOCs), Complex Programmable Logic Devices (CPLDs),
etc.
[0081] The terms "service," "module" and "component" as used herein
generally represent software, firmware, hardware or combinations
thereof. In the case of a software implementation, the service,
module or component represents program code that performs specified
tasks when executed on one or more processors. The program code may
be stored in one or more computer readable memory devices, as
described with reference to FIG. 11. The features of the present
disclosure described herein are platform-independent, meaning that
the techniques can be implemented on a variety of commercial
computing platforms having a variety of processors (e.g., desktop,
laptop, notebook, tablet computer, personal digital assistant
(PDA), mobile telephone, smart telephone, gaming console, and the
like).
[0082] Aerial operations system 100 may be configured in other ways
and/or utilized to perform other tasks including but not limited to
following a person and take video/photos. For example, using either
an RFID chip or a connection to the person's cell phone the aerial
vehicle 100 can follow the person, running a race for example, and
capture video of the event, while also autonomously navigating
obstacles such as power lines.
[0083] Additionally, aerial operations system 200 may be configured
to: inspect for damage in high rise buildings, towers, bridges,
airplanes, dams and the like.
[0084] Aerial operations system 200 may be configured to: collect
soil samples, drill into the ground in order to collect samples,
assist in the search for lost children, locate various items,
retrieve items from cabinets, bring beverages, and the like
[0085] While various aspects of the present disclosure have been
described herein, it should be understood that they have been
presented by way of example and not limitation. It will be apparent
to persons skilled in the relevant art(s) that various changes in
form and detail can be made therein without departing from the
spirit and scope of the present disclosure. Thus, the present
disclosure should not be limited by any of the above described
exemplary aspects, but should be defined only in accordance with
the following claims and their equivalents.
[0086] In addition, it should be understood that the figures in the
attachments, which highlight the structure, methodology,
functionality and advantages of the present disclosure, are
presented for example purposes only. The present disclosure is
sufficiently flexible and configurable, such that it may be
implemented in ways other than that shown in the accompanying
figures. As will be appreciated by those skilled in the relevant
art(s) after reading the description herein, certain features from
different aspects of the systems, apparatus and methods of the
present disclosure may be combined to form yet new aspects of the
present disclosure.
[0087] Further, the purpose of the foregoing Abstract is to enable
the U.S. Patent and Trademark Office and the public generally and
especially the scientists, engineers and practitioners in the
relevant art(s) who are not familiar with patent or legal terms or
phraseology, to determine quickly from a cursory inspection the
nature and essence of this technical disclosure. The Abstract is
not intended to be limiting as to the scope of the present
disclosure in any way.
* * * * *